A component pnt elastic terminal cooperative navigation and optimization control method

Abstract

The application discloses a kind of component PNT elastic terminal collaborative navigation and optimization control method, comprising: the time reference, coordinate system and navigation parameter of different performance of multiple-source heterogeneous PNT components of elastic access PNT terminal system are unified respectively, and the different performance of multiple-source heterogeneous PNT components is navigated and controlled in cooperation and optimization;Through wired or wireless communication between PNT terminal systems, the information sharing of multiple-source heterogeneous PNT components between different PNT terminal systems is carried out, and collaborative sensing and error collaborative optimization between different PNT terminal systems are realized;The error mutual calibration of multiple-source heterogeneous PNT component information between different PNT terminal systems is carried out, and collaborative positioning navigation and optimization control between different PNT terminal systems are realized.The method can realize the collaborative positioning navigation and optimization control between multiple-source heterogeneous PNT component terminal systems, and effectively improves the collaborative navigation capability of PNT terminal system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-source PNT information cooperative positioning, navigation and control, in particular to a component PNT flexible terminal cooperative navigation and optimization control method. BACKGROUND

[0002] With the rapid development of global digitalization, space-time information and positioning and navigation services have become important new infrastructure. The Beidou satellite navigation system has entered the stage of large-scale application, and the construction of an integrated PNT (positioning, navigation and timing) system centered on the Beidou system is a new technology.

[0003] With the development of swarm intelligence technology, in complex environments, multi-agent autonomous positioning and navigation and multi-agent task cooperation both provide increasingly high requirements for multi-source heterogeneous PNT cooperative positioning, navigation and control. Different performance PNT component terminal systems work cooperatively, share information, complement information and optimize errors. Low-cost PNT component terminals and high-precision PNT component terminals work cooperatively, which not only ensures the positioning performance of the multi-agent system, but also reduces the cost of cooperative tasks.

[0004] Therefore, on the basis of existing multi-source heterogeneous PNT component technology, how to improve the cooperative navigation capability of component PNT flexible terminal systems has become a problem that needs to be solved by those skilled in the art. SUMMARY

[0005] In view of the above problems, the present application provides a component PNT flexible terminal cooperative navigation and optimization control method which at least solves part of the above technical problems. The method can solve the problem of accurate, continuous and reliable cooperative positioning and navigation between different component PNT terminal systems in complex environments.

[0006] The embodiment of the present application provides a component PNT flexible terminal cooperative navigation and optimization control method, which comprises:

[0007] The time reference, coordinate system and navigation parameters of different performance multi-source heterogeneous PNT components of the flexible access PNT terminal system are unified respectively, and the different performance multi-source heterogeneous PNT components are cooperatively navigated and optimized controlled;

[0008] Through wired or wireless communication between PNT terminal systems, the multi-source heterogeneous PNT components between different PNT terminal systems are shared, cooperative sensing and error cooperative optimization between different PNT terminal systems are realized;

[0009] The multi-source heterogeneous PNT component information between different PNT terminal systems is error mutual calibrated, and cooperative positioning, navigation and optimization control between different PNT terminal systems are realized.

[0010] Further, aligning time reference, coordinate system and navigation parameters of different performance multi-source heterogeneous PNT components of the elastic access PNT terminal system respectively, performing collaborative navigation and optimization control on the different performance multi-source heterogeneous PNT components, comprising:

[0011] Aligning the different performance multi-source heterogeneous PNT components of the elastic access PNT terminal system with a time reference; the time reference comprises an absolute time reference and a relative time reference;

[0012] Unifying the different performance multi-source heterogeneous PNT components to the same coordinate system and performing consistent description on navigation parameters of the different performance multi-source heterogeneous PNT components;

[0013] Performing robust synthesis on the different performance multi-source heterogeneous PNT component information by using optimal filtering method and nonlinear optimization method;

[0014] According to the PNT terminal system autonomous integrity monitoring result, dynamically adjusting the weight of the different performance multi-source heterogeneous PNT component information participating in positioning and navigation calculation, and realizing multi-source heterogeneous PNT component collaborative navigation and optimization control by dynamically adjusting the weight of different PNT component information and fusing PNT component information.

[0015] Further, aligning the different performance multi-source heterogeneous PNT components of the elastic access PNT terminal system with a time reference, comprising:

[0016] When the Beidou system or global navigation satellite system GNSS signal is available, forming an absolute time reference with Beidou or GNSS time as reference; aligning the different performance multi-source heterogeneous PNT components of the elastic access PNT terminal system with the absolute time reference;

[0017] When the Beidou system or global navigation satellite system GNSS signal is not available, forming a relative time reference with the crystal oscillator of the PNT terminal system as reference; aligning the different performance multi-source heterogeneous PNT components of the elastic access PNT terminal system with the relative time reference.

[0018] Further, unifying the different performance multi-source heterogeneous PNT components to the same coordinate system, comprising:

[0019] Taking the northeast celestial geographic coordinate system as the reference coordinate system, performing coordinate transformation on the different performance multi-source heterogeneous PNT component information, and unifying the different performance multi-source heterogeneous PNT components to the same coordinate system.

[0020] Further, the navigation parameters of the different performance multi-source heterogeneous PNT components are uniformly described, including:

[0021] The navigation parameters of the different performance multi-source heterogeneous PNT components are uniformly described as absolute / relative ranging, angle measurement, position, velocity and attitude information.

[0022] Further, through wired or wireless communication between PNT terminal systems, information sharing of multi-source heterogeneous PNT components between different PNT terminal systems is performed to realize collaborative perception and error collaborative optimization between different PNT terminal systems, including:

[0023] Through wired or wireless communication between PNT terminal systems, information sharing of multi-source heterogeneous PNT components between different PNT terminal systems is performed;

[0024] The multi-source heterogeneous PNT component information between different PNT terminal systems is unified in space and time to realize collaborative perception between different PNT terminal systems;

[0025] An error optimization function of different PNT component information is established to realize error collaborative optimization between different PNT terminal systems.

[0026] Further, the multi-source heterogeneous PNT component information between different PNT terminal systems is error mutual calibration to realize collaborative positioning, navigation and optimization control between different PNT terminal systems, including:

[0027] A relative and absolute fusion positioning and navigation model of multi-source heterogeneous PNT component information between different PNT terminal systems is established, the errors between the multi-source heterogeneous PNT components between different PNT terminal systems are mutually calibrated, and collaborative positioning, navigation and optimization control between different PNT terminal systems are realized.

[0028] Further, the relative and absolute fusion positioning and navigation model dynamically estimates, optimizes and compensates for information fusion, system error and sensor error between multi-source heterogeneous PNT components between different PNT terminal systems.

[0029] The above technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0030] The embodiment of the present application provides a kind of component PNT flexible terminal cooperative navigation and optimization control method, comprising: the time reference, coordinate system and navigation parameter of different performance of multiple-source heterogeneous PNT components of flexible access PNT terminal system are unified respectively, the different performance of multiple-source heterogeneous PNT components is cooperatively navigated and optimized control;Through wired or wireless communication between PNT terminal systems, the information sharing of multiple-source heterogeneous PNT components between different PNT terminal systems is carried out, and the cooperative sensing and error cooperative optimization between different PNT terminal systems are realized;The error mutual calibration of multiple-source heterogeneous PNT component information between different PNT terminal systems is carried out, and the cooperative positioning navigation and optimization control between different PNT terminal systems are realized.The method can realize the cooperative positioning navigation and optimization control between multiple-source heterogeneous PNT component terminal systems, and effectively improves the cooperative navigation capability of PNT terminal system.

[0031] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0032] The technical solutions of the present application will be described in further detail below with the help of drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application and explain the principles of the present application, and do not constitute a limitation of the present application. In the drawings:

[0034] Figure 1 Two component PNT flexible terminal cooperative navigation and optimization control method schematic diagram provided for the embodiment of the present application;

[0035] Figure 2 Two unmanned aerial vehicle formation component PNT flexible terminal cooperative navigation and optimization control method schematic diagram provided for the embodiment of the present application. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0037] The embodiment of the present application provides a kind of component PNT flexible terminal cooperative navigation and optimization control method, comprising:

[0038] The time reference, coordinate system and navigation parameter of the different performance multi-source heterogeneous PNT components of the unified elastic access PNT terminal system are unified respectively, and the different performance multi-source heterogeneous PNT components are cooperatively navigated and optimized controlled;

[0039] Through wired or wireless communication between PNT terminal systems, the multi-source heterogeneous PNT components between different PNT terminal systems are information shared, and the cooperative sensing and error cooperative optimization between different PNT terminal systems are realized.

[0040] The multi-source heterogeneous PNT component information between different PNT terminal systems is error mutual calibration, and the cooperative positioning navigation and optimization control between different PNT terminal systems are realized.

[0041] The component PNT elastic terminal cooperative navigation and optimization control method provided by the embodiment is aimed at the problem that the cooperative navigation and optimization control ability of each PNT component is weak when the existing PNT terminal system accesses different performance PNT components. The different performance PNT component information is shared and inter-operated, the cooperative optimization estimation, error mutual compensation and system mutual calibration are performed on the different performance PNT component information, the cooperative positioning navigation of the multi-source heterogeneous PNT elastic terminal system is realized, and the continuous, available, accurate and reliable PNT service information is provided for the carrier.

[0042] The method will be described in detail below, which specifically includes:

[0043] Step 1: For different performance PNT components produced by different manufacturers and accessed by the elastic PNT terminal system, the multi-source heterogeneous PNT component information is elastically fused and information regulated, and the multi-source heterogeneous PNT component cooperative navigation and optimization control is realized. Referring to Figure 1 and Figure 2 , the specific steps are as follows:

[0044] Step 1): The multi-source heterogeneous PNT component information produced by different manufacturers and having different performances (for example, PNT terminal 1 accesses IMU, Beidou system receiver, barometer, magnetometer and camera; PNT terminal 2 accesses MIMU, GNSS receiver, laser altimeter, magnetometer and laser radar) is unified in time and space. When the Beidou system or global navigation satellite system GNSS signal is available, an absolute time reference is formed with the Beidou or GNSS time as a reference. When the Beidou system or GNSS signal is not available, a relative time reference is formed with the crystal oscillator of the terminal system as a reference. The heterogeneous PNT components accessed by the elastic PNT terminal system are aligned with the absolute or relative time reference.

[0045] Step 2): In the Northeast Tian Di Li coordinate system as the reference coordinate system, coordinate transformation is performed on the multi-source heterogeneous PNT component information, the PNT component information is unified to the same coordinate system, and consistency description is performed on different PNT component navigation parameters, and the unified description is absolute or relative ranging, angle measurement, position, velocity and attitude information;

[0046] Step 3): The optimal filtering method and the nonlinear optimization method are used to realize the robust integration of the multi-source heterogeneous PNT component information, and according to the terminal system autonomous integrity monitoring result, the weight of the heterogeneous PNT component information participating in the positioning and navigation solution is dynamically adjusted to realize the collaborative navigation and optimization control of the multi-source heterogeneous PNT component;

[0047] Step 2: Through wired or wireless communication between the component PNT flexible terminal system, PNT component information sharing and collaborative navigation and optimization control between different PNT terminal systems are realized. The specific steps are as follows:

[0048] Step 1): Through wired or wireless communication between the component PNT flexible terminal system, PNT component information sharing between different PNT terminal systems is realized, and the PNT component information of different PNT terminal systems is unified in time and space, realizing information compatibility and interoperation between different PNT terminal systems accessing different performance PNT components;

[0049] Step 2): A relative and absolute fusion positioning and navigation model of heterogeneous PNT component information between different terminal systems is established, the dynamic estimation, optimization and compensation of different performance PNT component information fusion, system error and sensor error are realized, the error mutual calibration of different performance PNT components is realized, and then the collaborative navigation and optimization control between the component PNT terminals is realized.

[0050] Further, the embodiment also provides a component PNT flexible terminal collaborative navigation and optimization control system, which programs the component PNT flexible terminal collaborative navigation and optimization control method of the above embodiment, and realizes the component PNT flexible terminal collaborative navigation and optimization control by using a computer processor or an embedded processor. The component PNT flexible terminal collaborative navigation and optimization control system enables the component PNT terminal system to have the ability of collaborative navigation and optimization control.

[0051] The embodiment aims at the problem of sharing control and collaborative optimization positioning and navigation between different performance PNT terminal systems. Through sharing of multi-source heterogeneous PNT component information of the integrated PNT flexible terminal system, collaborative optimization and mutual calibration control of errors are performed to realize collaborative positioning and navigation and optimization control of the multi-source heterogeneous PNT component terminal system. The method can effectively improve the collaborative navigation capability of the heterogeneous component PNT terminal system, realize information sharing, error collaborative optimization and system mutual calibration of the terminal system flexibly integrated with PNT components of different performance produced by different manufacturers, and ensure that the componentized terminal system can still realize collaborative positioning and navigation and control in a complex application environment, thereby effectively solving the problem that the existing PNT terminal system does not have the function of collaborative positioning and navigation.

[0052] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A method for collaborative navigation and optimized control of a component-based PNT (Positive Nylon Telescope) flexible terminal, characterized in that, include: The time reference, coordinate system, and navigation parameters of multi-source heterogeneous PNT components with different performance characteristics in the elastically accessible PNT terminal system are unified respectively, and the cooperative navigation and optimized control of the multi-source heterogeneous PNT components with different performance characteristics are performed; including: Align the multi-source heterogeneous PNT components with different performance characteristics to the time reference in the flexible access PNT terminal system; the time reference includes: an absolute time reference and a relative time reference; The multi-source heterogeneous PNT components with different performance are unified under the same coordinate system, and the navigation parameters of the multi-source heterogeneous PNT components with different performance are described in a consistent manner. Robust synthesis of information from multi-source heterogeneous PNT components with different performances is performed using optimal filtering and nonlinear optimization methods. Based on the autonomous integrity monitoring results of the PNT terminal system, the weights of the information of the multi-source heterogeneous PNT components with different performances participating in the positioning and navigation calculation are dynamically adjusted. By dynamically adjusting the weights of different PNT component information and fusing the PNT component information, collaborative navigation and optimized control of multi-source heterogeneous PNT components are realized. By using wired or wireless communication between PNT terminal systems, information sharing is achieved among multi-source heterogeneous PNT components in different PNT terminal systems, enabling collaborative sensing and error optimization among different PNT terminal systems. Error cross-calibration is performed on the information of multi-source heterogeneous PNT components among different PNT terminal systems to achieve collaborative positioning, navigation, and optimized control among different PNT terminal systems; including: Establish a relative and absolute fusion positioning and navigation model for multi-source heterogeneous PNT component information among different PNT terminal systems, and perform mutual verification of errors between multi-source heterogeneous PNT components among different PNT terminal systems to achieve collaborative positioning, navigation and optimized control among different PNT terminal systems. The relative and absolute fusion positioning and navigation model dynamically estimates, optimizes, and compensates for information fusion, system errors, and sensor errors among multi-source heterogeneous PNT components in different PNT terminal systems.

2. The component PNT flexible terminal cooperative navigation and optimization control method as described in claim 1, characterized in that, Aligning multi-source heterogeneous PNT components with different performance levels to a time base in a flexible access PNT terminal system, including: When BeiDou or GNSS signals are available, an absolute time reference is formed with BeiDou or GNSS time as a reference; and multi-source heterogeneous PNT components with different performance characteristics that can be flexibly accessed in the PNT terminal system are aligned with the absolute time reference. When the BeiDou system or GNSS signal is unavailable, a relative time reference is formed with the crystal oscillator of the PNT terminal system as a reference; and multi-source heterogeneous PNT components with different performances that are flexibly connected to the PNT terminal system are aligned with the relative time reference.

3. The component PNT flexible terminal cooperative navigation and optimization control method as described in claim 1, characterized in that, Unifying the aforementioned multi-source heterogeneous PNT components with different performance characteristics into the same coordinate system includes: Using the Northeast Celestial coordinate system as the reference coordinate system, coordinate transformation is performed on the information of the multi-source heterogeneous PNT components with different performances, so that the multi-source heterogeneous PNT components with different performances are unified under the same coordinate system.

4. The component PNT flexible terminal cooperative navigation and optimization control method as described in claim 1, characterized in that, A consistent description of the navigation parameters of the multi-source heterogeneous PNT components with different performance characteristics is provided, including: The navigation parameters of the multi-source heterogeneous PNT components with different performance are uniformly described as absolute / relative ranging, angle measurement, position, velocity, and attitude information.

5. The component PNT flexible terminal cooperative navigation and optimization control method as described in claim 1, characterized in that, Through wired or wireless communication between PNT terminal systems, information sharing is achieved among multi-source heterogeneous PNT components in different PNT terminal systems, enabling collaborative sensing and error optimization among different PNT terminal systems, including: Information sharing among multi-source heterogeneous PNT components in different PNT terminal systems is achieved through wired or wireless communication between PNT terminal systems. Spatiotemporal unification of information on multi-source heterogeneous PNT components among different PNT terminal systems is achieved to enable collaborative sensing among different PNT terminal systems. Establish an information error optimization function for different PNT components to achieve collaborative error optimization among different PNT terminal systems.

Images